JP2007148591A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem in a conventional cleaner that some obstacles cannot be detected as an object. <P>SOLUTION: In this self-propelled cleaner 10, ranging data from an ultrasonic ranging sensor 31 is acquired in step S400, whether the acquired distance data is within an approach limit or not in step S405, and when it is determined to be within the approach limit, traveling is stopped in step S410, or when it is determined not to be within the approach limit, measurement data from left and right light ranging sensors 32R and 32L are acquired in step S420, and whether the distance data are within the approach limit or not is determined in step S425. Since the traveling is stopped when the approach limit or less is determined in either one of the steps, objects can be ranged by using the optical ranging sensors 32R and 32L in combination to increase objects to be accurately ranged only by the sensor 31, and collision to obstacles can be prevented. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that performs cleaning by traveling on a floor surface in a predetermined range based on a predetermined control program stored in advance.

Conventionally, what was disclosed by patent document 1 is known as this kind of self-propelled cleaner.
The self-propelled cleaner disclosed in the publication has four pairs of optical ranging sensors on the front and two pairs of ultrasonic ranging sensors on the left and right sides of the front. Information is being acquired.
Japanese translation of PCT publication No. 2002-533797

The above-described conventional self-propelled cleaner has the following problems.
When detecting an obstacle ahead by the ultrasonic distance measuring sensor, if the obstacle is soft, the detection distance is unstable and an accurate distance cannot be obtained.
On the other hand, when an optical distance sensor is used to detect an obstacle ahead, it may not be detected if the obstacle has a color that hardly reflects light, such as a dark object.
Therefore, if you have either an ultrasonic distance sensor or an optical distance sensor, or if you have both, but you are detecting obstacles in front, all obstacles It could not be avoided accurately.
The present invention has been made in view of the above-mentioned problems, and it is possible to keep the angle between the front wall and the angle accurately and the function of reliably avoiding collision with any color wall or obstacle. The purpose is to provide a self-propelled vacuum cleaner.

In order to achieve the above object, the invention according to claim 2 includes a main body, a drive mechanism that drives the main body in a predetermined direction, a cleaning mechanism that is incorporated in the main body and performs cleaning, and movement information of the main body. From the movement detection sensor to detect, the peripheral sensor to detect the situation around the main body, the operation panel arranged on the outer surface of the main body, the detection result by the movement detection sensor and the peripheral sensor, and the operation panel Control means for controlling the drive mechanism and the cleaning mechanism on the basis of a predetermined control program stored in advance and running on a floor surface within a predetermined range for cleaning. In self-propelled vacuum cleaner,
The above ambient sensor
An optical distance measuring sensor disposed on the front side of the main body;
An ultrasonic distance sensor disposed on the front side of the main body;
A lateral wall sensor disposed on the left and right side surfaces of the main body,
The control means maps the room based on the size of the main body while moving the main body with the drive mechanism in a predetermined area such as a room based on an operation instruction from the operation panel. Recognizing the position information of the main body, and driving the cleaning mechanism as appropriate to clean the room.
At the time of the mapping, while the main body is moved forward by the drive mechanism, a lateral obstacle is detected by the lateral wall sensor, and based on the detection results of both the ultrasonic distance sensor and the optical distance sensor. Detects the presence or absence of obstacles ahead, and when the obstacle is detected, avoids the obstacle by the drive mechanism so that the main body does not collide with the obstacle and moves the detection result of the peripheral sensor The information is reflected in the mapping data together with the information.

  In the invention according to claim 2 configured as described above, the control means inputs a detection result by the movement detection sensor and the peripheral sensor and an operation input from the operation panel, and stores a predetermined stored in advance. The drive mechanism and the cleaning mechanism are controlled based on a control program, and cleaning is performed by running on a floor surface within a predetermined range. At this time, when the main body is moved by the drive mechanism in a predetermined region such as a room, the control means maps the room based on the size of the main body, and always positions the main body in the room. While recognizing information, the cleaning mechanism is appropriately driven to clean the room.

  Further, at the time of the mapping, the control means causes the lateral wall sensor to detect a side obstacle while the body is advanced by the drive mechanism, and the ultrasonic distance sensor and the optical distance sensor. Based on both detection results, the presence or absence of a front obstacle is detected, and when the obstacle is detected, the obstacle is avoided by the drive mechanism so that the main body does not collide with the obstacle. The detection result of the peripheral sensor is reflected in the mapping data together with the movement information.

Further, the invention according to claim 3 is the self-propelled cleaner according to claim 2, wherein the control means moves forward with the ultrasonic distance sensor while moving the main body forward with the drive mechanism. When the obstacle is detected, the obstacle is avoided by the driving mechanism so that the main body does not collide with the obstacle, and the obstacle is detected by the ultrasonic distance sensor. When an object is not detected, the optical distance sensor detects the presence of an obstacle in front, and when an obstacle is detected, the obstacle is detected by the drive mechanism so that the main body does not collide with the obstacle. This is a configuration that avoids the problem.
In the invention according to claim 3 configured as described above, first, the presence or absence of a front obstacle is detected by the ultrasonic distance sensor, and the obstacle is not detected by the ultrasonic distance sensor. The presence or absence of a front obstacle is detected by an optical distance measuring sensor. Then, when an obstacle is detected in any of the cases, the obstacle is avoided by the drive mechanism so that the main body does not collide with the obstacle.

The invention according to claim 4 is the self-propelled cleaner according to claim 2 or 3, wherein the optical distance measuring sensor is disposed on the left and right sides of the front side of the main body, and the ultrasonic measurement is performed. The distance sensor is configured to be disposed at the approximate center on the front side of the main body.
The optical ranging sensor has high detection accuracy except for obstacles that are difficult to detect. In the invention according to claim 4 configured as described above, since the optical distance measuring sensors are arranged on the left and right sides of the front side of the main body, the left and right lights are located when facing a flat obstacle such as a wall. Each distance sensor can accurately measure the distance to the obstacle. Thereby, it is possible to detect the facing angle with respect to the obstacle. In addition, the ultrasonic ranging sensor that is inferior in terms of accuracy has a minimum necessary configuration by arranging one ultrasonic sensor at substantially the center.

  Furthermore, the invention according to claim 5 is the self-propelled cleaner according to claim 4, wherein when the control means detects an obstacle ahead, the detection results of the left and right optical distance measuring sensors are obtained. The driving mechanism is rotated by the drive mechanism so that the detection results of the optical distance measuring sensor coincide with each other, the advance angle is changed, and the advance angle is corrected so that the main body is perpendicular to the obstacle. It is as composition to do.

  In the invention according to claim 5 configured as described above, when the obstacle is detected forward and the detection result of the right and left optical distance sensors is obtained, the detection result of the optical distance sensor is obtained. Based on this, the facing angle to the obstacle can also be detected. Therefore, the control means corrects the main body to be perpendicular to the obstacle by rotating the main body with the drive mechanism so that the detection results of the right and left optical distance sensors match, and changing the advance angle. To do.

  Further, the invention according to claim 6 is the self-propelled cleaner according to claim 5, wherein when the control means detects an obstacle ahead, the detection result of the optical distance measuring sensor is obtained. When there is not, the traveling angle is set so that the detection result of the ultrasonic distance measuring sensor is the shortest while rotating the main body with the drive mechanism, so that the main body is perpendicular to the obstacle. As a configuration to correct.

  In the invention according to claim 6 configured as described above, when the obstacle is detected forward, the control means rotates the main body even if the detection result of the optical distance measuring sensor is not obtained. Thus, based on the detection result of the ultrasonic distance measuring sensor, the facing angle to the obstacle can also be detected. Accordingly, the control means corrects the traveling angle so that the main body is perpendicular to the obstacle by setting the traveling angle at which the detection result of the ultrasonic distance measuring sensor is the shortest.

And the invention concerning Claim 1 containing each aspect mentioned above is a main part of a substantially short cylinder shape, a drive mechanism which drives the above-mentioned main part in a predetermined direction, a cleaning mechanism which is incorporated in the above-mentioned main part, and performs cleaning, Detection results of a movement detection sensor that detects movement information of the main body, a peripheral sensor that detects a situation around the main body, an operation panel disposed on the outer surface of the main body, the movement detection sensor, and the peripheral sensor And an operation input from the operation panel, the drive mechanism and the cleaning mechanism are controlled based on a predetermined control program stored in advance, and a floor surface within a predetermined range is run for cleaning. A self-propelled vacuum cleaner comprising control means for
The drive mechanism is composed of left and right drive wheels driven by individually forward and reverse drive motors arranged near both sides of the main body and freely rollable rolling wheels arranged on the front side. Configured,
The cleaning mechanism is configured such that side brushes disposed on the left and right front sides of the main body and having a rotation axis oriented in a direction substantially perpendicular to the floor surface are rotated and driven in opposite directions by a side brush motor to remove dust on the floor surface. A side brush mechanism that rakes toward the center side, and a main brush motor that rotates a roller-shaped main brush with the axis of rotation substantially perpendicular to the traveling direction at a substantially central portion of the main body and oriented substantially horizontally. A main brush mechanism that scrapes floor debris,
The movement detection sensor detects a rotation amount and a rotation direction of the left and right drive wheels,
The above ambient sensor
Optical distance measuring sensors arranged on the left and right of the front side of the main body,
An ultrasonic distance measuring sensor disposed in the approximate center of the front side of the main body;
A lateral wall sensor disposed on the left and right side surfaces of the main body,
The control means maps the room based on the size of the main body while moving the main body with the drive mechanism in a predetermined area such as a room based on an operation instruction from the operation panel. Recognizing the position information of the main body, and driving the cleaning mechanism as appropriate to clean the room.
At the time of the mapping, the side wall sensor detects a side obstacle while moving forward, and the ultrasonic ranging sensor detects the presence or absence of a front obstacle. When the obstacle is detected, the obstacle is detected. The drive mechanism avoids the obstacle so that the main body does not collide, and when the obstacle is not detected by the ultrasonic distance sensor, the optical distance sensor indicates whether there is an obstacle ahead. When the obstacle is detected, the obstacle is avoided by the drive mechanism so that the main body does not collide with the obstacle, and when the obstacle is detected, the right and left optical distance measuring sensors If the detection result of the optical distance sensor is not obtained, the main body is adjusted based on the detection result of the ultrasonic distance sensor when the detection result of the optical distance sensor is not obtained. Up Correct progression angle so as to be perpendicular to the obstacle, also, it is constituted to reflect the mapping data with movement information detection result of the peripheral sensor.

As described above, the method of avoiding the obstacle does not necessarily need to be limited to a substantial apparatus, and it can be easily understood that it functions as a method, and is not necessarily limited to a substantial apparatus, and is effective as a method. There is no difference in being.
By the way, in order to realize such an avoidance technique, various modes are possible, and can be appropriately changed such as realization by software or realization by hardware.
In the case of software as an embodiment of the idea of the invention, it naturally exists on a recording medium on which such software is recorded, and it must be used.
Of course, the recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium that will be developed in the future. In addition, the duplication stages such as the primary duplication product and the secondary duplication product are equivalent without any question. In addition, even when the communication method is used as a supply method, the present invention is not changed.

Further, even when a part is software and a part is realized by hardware, the idea of the invention is not completely different, and a part is stored on a recording medium and is appropriately changed as necessary. It may be in the form of being read.
When the present invention is implemented by software, a configuration using hardware or an operating system may be used, or may be implemented separately from these. For example, even if it is a variety of arithmetic processing, if it can be processed by calling a predetermined function in the operating system, it can also be input from hardware without calling such a function. is there. It can be understood that the present invention can be implemented with only this program in the process in which the program is recorded and distributed on the medium even though it is actually realized with the intervention of the operating system.

  When the present invention is implemented by software, the present invention is not only realized as a medium storing a program, but the present invention is naturally realized as a program itself, and the program itself is also included in the present invention.

As described above, the present invention can provide a self-propelled cleaner that can be surely avoided regardless of the type of obstacle.
Further, according to the invention of claim 3, the ultrasonic distance measuring sensor that is difficult to detect only a soft obstacle is detected first, and even if the obstacle cannot be detected, it collides. Becomes a soft obstacle and can reduce the impact.
Further, according to the invention of claim 4, efficient operation can be realized by minimizing the resources of the optical distance measuring sensor and the ultrasonic distance measuring sensor.
Furthermore, according to the fifth aspect of the present invention, the angle with the front wall can be accurately kept vertical by using an accurate optical distance measuring sensor.
Furthermore, according to the sixth aspect of the present invention, even if the optical distance measuring sensor cannot be used, the angle with the front wall can be accurately kept vertical.

(1) Appearance of self-propelled vacuum cleaner:
FIG. 1 is an external perspective view of a self-propelled cleaner according to the present invention, and FIG. 2 is a rear view of the self-propelled cleaner shown in FIG. In addition, in FIG. 1, the direction shown by the arrow is the advancing direction used as the reference | standard of a self-propelled cleaner, and the shift | offset | difference from this advancing direction becomes a advancing angle. As shown in FIG. 1, a self-propelled cleaner 10 according to the present invention includes a main body BD having a substantially short cylindrical shape, and two drive wheels 12R and 12L (see FIG. 2) provided on the back side of the main body BD. ) Are individually driven, it is possible to go straight, reverse and turn.

  An ultrasonic distance measuring sensor 31 for distance measurement is disposed in the center portion on the front side of the main body BD. The ultrasonic distance measuring sensor 31 includes a transmitting unit that generates ultrasonic waves and an ultrasonic receiving unit, and receives ultrasonic waves that are emitted from the transmitting unit and reflected back to an obstacle ahead. It is possible to detect obstacles ahead, and to calculate (measure) the distance to the wall from the time until the ultrasonic wave emitted from the transmitter is received by the receiver. It has become.

  In addition, optical distance measuring sensors 32 (R, L) for distance measurement are arranged on the left and right sides of the front side of the main body BD. The optical distance measuring sensor 32 includes a light emitting unit that generates infrared light and a light receiving unit that receives the infrared light, and receives reflected light that is emitted from the light emitting unit and reflected by an obstacle ahead. It is possible to detect obstacles ahead, and calculate the distance to the wall (ranging) from the intensity when the infrared light irradiated from the light emitting unit is received by the light receiving unit. It can be done.

  In FIG. 2, two drive wheels 12R and 12L are respectively provided at the left and right end portions (near both sides) of the center of the back side of the main body BD. Further, auxiliary wheels (rolling wheels) 13 that can freely roll are provided on the front side (traveling direction side) on the back side of the main body BD. Further, step sensors 14 for detecting unevenness and steps on the floor are provided on the back side of the main body BD. A main brush 15 is provided behind the center of the back side of the main body BD. The main brush 15 is rotationally driven by a main brush motor 52 (FIG. 3), and can scrape dust on the floor surface. Moreover, the opening of the part to which the main brush 15 is attached is a suction port 15a, and the scraped dust is sucked into the suction port 15a while the main brush 15 scrapes the dust. Further, side brushes 16 (R, L) are respectively provided on the upper right and upper left on the back side of the main body BD, and a bumper sensor 17 is disposed on the lower portion from the front to the side of the main body BD. The bumper sensor 17 protrudes slightly outward from the upper part of the main body BD, and is a switch that closes the contact upon receiving a pressing force when it comes into contact with a surrounding obstacle.

The self-propelled cleaner 10 according to the present invention includes various sensors in addition to the ultrasonic distance sensor 31, the optical distance sensor 32, the step sensor 14, and the bumper sensor 17 shown in FIGS. However, these will be described later with reference to the drawing (FIG. 3).
(2) Internal configuration of self-propelled cleaner:
FIG. 3 is a block diagram showing a configuration of the self-propelled cleaner shown in FIGS. 1 and 2. In the figure, a CPU 21, a ROM 23, and a RAM (storage area) 22 are connected to a main body BD as a control unit via a bus 24. The CPU 21 executes various controls using the RAM 22 as a work area according to the control program and various parameter tables stored in the ROM 23.

  The main body BD has a battery 27, and the CPU 21 can monitor the remaining amount of the battery 27 via the battery monitoring circuit 26. The battery 27 includes a charging terminal for charging from an external charging device, and charging is performed by connecting the power feeding terminal of the charging device. The battery monitoring circuit 26 mainly monitors the voltage of the battery 27 and detects the remaining amount. The main body BD has an audio circuit 29a connected to the bus 24, and the speaker 29b emits audio in accordance with the audio signal generated by the audio circuit 29a.

  The main body BD includes an ultrasonic distance measuring sensor 31, an optical distance measuring sensor 32, a step sensor 14, and a bumper sensor 17 as distance measuring devices (see FIGS. 1 and 2). The main body BD includes pyroelectric sensors 35 as human sensors and lateral wall sensors 36R and 36L that detect side walls as other sensors not shown in FIGS. The pyroelectric sensor 35 receives infrared light accompanying the movement of the human body and detects the human body based on the change in the amount of infrared light, and is arranged so that the 360 ° circumference of the main body BD is within the detection range. . The horizontal wall sensors 36R and 36L are infrared sensors including a light emitting unit and a light receiving unit that use infrared rays similar to the optical distance measuring sensor 32. In addition to this, a passive sensor, an ultrasonic distance measuring sensor, or the like can be employed as the lateral wall sensor 36. These sensors are connected to the bus 24 via the sensor I / F 30 so that the CPU 21 can acquire the detection result.

  Furthermore, the main body BD includes a gyro sensor 37 as the other sensor. The gyro sensor 37 includes an angular velocity sensor that detects a change in angular velocity caused by a change in the traveling angle of the main body BD, and the CPU 21 integrates the sensor output values detected by the angular velocity sensor to integrate the sensor output value of the main body BD. It is possible to detect the traveling angle facing.

In addition, the bus 24 is provided with an operation panel 19, and the user operates the operation panel 19 to input an instruction. Such an input is called an operation input.
The self-propelled cleaner 10 according to the present invention includes, as a drive mechanism, a motor drive I / F 41, drive wheel motors 42R and 42L, and the drive wheel motors 42R and 42L and the drive wheels 12R and 12L described above. And a gear unit (not shown) to be mounted. The drive wheel motors 42R and 42L are given drive signals indicating the rotation direction and rotation angle from the motor drive I / F 41, and are controlled in detail. Here, it is assumed that the vehicle rotates forward when moving forward and reverses when moving backward. When performing a turning run, an arbitrary turn can be performed by making the rotation direction and the rotation angle different on the left and right. The motor drive I / F 41 outputs a corresponding drive signal in response to a control instruction from the CPU 21. Various types of gear units and drive wheels 12R and 12L may be employed, and may be realized by driving a circular rubber tire or driving an endless belt.

  Further, the CPU 21 obtains the outputs of the rotary encoders 43R and 43L integrally attached to the drive wheel motors 42R and 42L via the encoder I / F 43c, and rotates and rotates the actual drive wheels 12R and 12L. Can be detected accurately. Note that the rotary encoders 43R and 43L are not directly connected to the drive wheels 12R and 12L, but a freely rotatable driven wheel is attached in the vicinity of the drive wheels 12R and 12L, and the rotation amount of the driven wheel is fed back to slip to the drive wheel. Even in the case where there is such a situation, the actual rotation amount may be detected. Of course, the encoder I / F 43c and the rotary encoders 43R and 43L correspond to the movement detection sensor in the present embodiment.

  The cleaning mechanism in the self-propelled cleaner 10 according to the present invention includes two left and right side brushes 16R and 16L (see FIG. 2) provided on the back side of the main body BD, and a main part provided on the back central portion of the main body BD. The brush 15 (see FIG. 2) and a suction fan 18 that sucks dust scraped by the main brush 15 and stores it in a dust box (not shown). The main brush 15 is driven by a main brush motor 52, the side brushes 16R and 16L are driven by side brush motors 53R and 53L, and the suction fan 18 is driven by a suction motor 55.

  The side brushes 16R and 16L are a pair of rotary brushes arranged on the left and right front sides of the main body BD and having their rotation axes oriented in a direction substantially perpendicular to the floor surface, and are rotated in opposite directions by the side brush motors 53R and 53L. A side brush mechanism that scrapes dust on the floor to the center side by driving is configured. The main brush 15 is a roller-like rotary brush whose rotation axis is substantially perpendicular to the traveling direction at a substantially central portion of the main body BD and is substantially horizontally oriented. The main brush mechanism that scrapes dust on the surface is constructed. Then, the suction fan 18 is driven by the suction motor 55 and the dust scraped up is sucked and stored in the dust box to constitute a suction mechanism.

  The motor drive I / F 41 supplies drive power to the main brush motor 52, the side brush motors 53R and 53L, and the suction motor 55, respectively. Cleaning is appropriately determined by the CPU 21 in accordance with the floor condition, battery condition, user instruction, and the like, and the CPU 21 supplies drive power via the motor drive I / F 41 to control.

  The main body BD has a wireless LAN module 61 including a wireless LAN unit 61a and a LAN I / F 61b, and the CPU 21 can communicate with an external LAN wirelessly according to a predetermined protocol. Assume that the wireless LAN module 61 is connected to an external wide area network (for example, the Internet) via a router or the like on the assumption that an access point (not shown) exists. Therefore, it is possible to send and receive normal mail via the Internet and browse the WEB site. Note that the wireless LAN module 61 includes a standardized card slot and a standardized wireless LAN card connected to the slot. Of course, other standardized cards can be connected to the card slot.

  The main body BD includes an infrared CCD camera 73a, a camera I / F 73b, and an infrared light source 72. The imaging signal generated by the infrared CCD camera 73a is sent to the CPU 21 via the camera I / F 73b and the bus 24, and the CPU 21 performs various processes on the imaging signal. The infrared CCD camera 73a has an optical system capable of imaging the front, and generates an electrical signal in accordance with infrared rays input from a field of view realized by the optical system. Specifically, a large number of cells arranged corresponding to each pixel at the imaging position by the optical system are provided, and each cell generates an electrical signal corresponding to the amount of infrared light input. The CCD element temporarily stores the electrical signal generated for each pixel, and generates an imaging signal in which the electrical signal is continuous for each pixel. The generated imaging signal is output to the CPU 21 as appropriate.

In addition, the CPU 21 executes a program corresponding to the flowcharts shown in FIG. 4 and FIG. 7 to control the drive mechanism and the cleaning mechanism to achieve automatic cleaning, and in this sense, the CPU 21, RAM 22, ROM 23 are realized. The control means is realized by the above.
(3) Operation of the self-propelled cleaner:
Next, the operation | movement concerning the cleaning of the self-propelled cleaner 10 concerning this invention is demonstrated.
In the self-propelled cleaner 10 according to the present invention, cleaning is performed while the main body BD is traveling in a room or the like, the position information of the main body BD is recognized, and the cleaned area is designated as a cleaning completion area or an uncleaned area. A mapping process is performed in which an uncleaned area and an area where an obstacle exists are mapped as an obstacle area. FIG. 4 is a flowchart showing the flow of the mapping process executed in the self-propelled cleaner 10 according to the present invention.

  The main body BD travels straight ahead and turns 90 degrees so that it does not collide with the obstacle when it reaches the front of the obstacle in front of it. Continue straight ahead until it reaches the front of the obstacle again. Then, every time it reaches the front of the obstacle, the direction of turning 90 degrees is changed to left, right, left..., And zigzag traveling is performed as shown in FIG. Of course, this direction will be judged as described later.

  Further, when the main body BD travels to the end point by the mapping process described above, the main body BD is moved from the current position of the main body BD to the nearest uncleaned area among the plurality of mapped uncleaned areas and An uncleaned area cleaning process for cleaning the cleaning area is performed. This uncleaned area cleaning process is continued until the cleaning of all the uncleaned areas in the room is completed.

  In the description of the mapping process shown in FIG. 4, the room cleaning shown in FIG. 5 will be performed. FIG. 6 shows an example of mapping data stored in the RAM 22 when the mapping process is performed. In this process, the cleaning range when the main body BD is stationary is substantially the same as the size of the main body BD (30 cm × 30 cm), and this range is used as a unit area and is the vertical direction in the room (upward in FIG. 5). The coordinates of each unit area are sequentially written in the RAM 22 or the like as a cleaned area, an uncleaned area or an obstacle area, with x as the x axis and the horizontal direction as the y axis. For example, the coordinates of the main body BD shown in FIG. 5 are (1, 1), the left wall W is (0, m), and the lower wall W is (n, 0).

  When the mapping process is started, first, in step S100, a process of mapping as a cleaned area is performed. In this process, the process of writing the coordinates of the unit area where the main body BD is currently located as a cleaned area is performed. For example, since the coordinates of the main body BD shown in FIG. 5 are (1, 1), these coordinates are written as the cleaned area. In FIG. 6, the coordinates (1, 1) are written as a cleaned area (indicated by a circle).

  Next, in step S110, it is determined whether there is an obstacle on the left side. In this process, it is determined whether an obstacle present on the left side is detected by the left side wall sensor 36L. If it is determined in step S110 that there is an obstacle on the left side, a process for mapping as an obstacle area is performed in step S120. That is, the coordinates on the left side of the coordinates where the main body BD is currently located are written as the obstacle area. In FIG. 6, the coordinates (0, 1) adjacent to the left of the coordinates (1, 1) are written as an obstacle area (indicated by a cross). The sequential writing to the mapping data in this way corresponds to reflecting the mapping data.

  On the other hand, if it is determined in step S110 that there is no obstacle on the left side, a process of mapping as an uncleaned area is performed in step S130. That is, the coordinates on the left side of the coordinates where the main body BD is currently located are written as an uncleaned area. In FIG. 6, this uncleaned area is indicated by no mark (blank). In this step S130, even if it is once written as an uncleaned area, if the main body BD travels in the same area and is cleaned later, it is overwritten as a cleaned area.

  When the process of step S120 or step S130 is executed, it is next determined in step S140 whether an obstacle exists on the right side. In this process, it is determined whether an obstacle present on the right side of the main body BD is detected by the right side wall sensor 36R. If it is determined in step S140 that there is an obstacle on the right side, a process of mapping as an obstacle area is performed in step S150. That is, the coordinates on the right side of the coordinates where the main body BD is currently located are written as the obstacle area.

On the other hand, if it is determined in step S140 that there is no obstacle on the right side, a process of mapping as an uncleaned area is performed in step S160. That is, the coordinates on the right side of the coordinates where the main body BD is currently located are written as an uncleaned area.
If the process of step S150 or step S160 is executed, it is next determined in step S170 whether there is an obstacle ahead.
FIG. 7 shows a flowchart for determining whether there is an obstacle ahead.
In step S400, distance measurement data from the ultrasonic distance sensor 31 is acquired. Specifically, the CPU 21 acquires distance data from the ultrasonic distance measuring sensor 31 via the sensor I / F 30. If the obstacle reflects an ultrasonic wave, the ultrasonic distance measuring sensor 31 can accurately measure the distance, and the CPU 21 determines whether the distance data acquired in step S405 is equal to or less than the approach limit. In this embodiment, the approach limit is 3 cm. If it is determined in step S405 that the distance is below the approach limit, traveling is stopped in step S410.

  On the other hand, if it is not determined in step S405 that the approach limit is reached, distance data from the left and right optical distance measuring sensors 32R and 32L are acquired in step S420. Specifically, the CPU 21 acquires distance data from the optical distance measuring sensors 32R and 32L via the sensor I / F 30. If the obstacle reflects ultrasonic waves, the ultrasonic distance measuring sensor 31 can accurately measure the distance. However, if the obstacle is a soft obstacle such as cloth, the ultrasonic waves are absorbed and may not be reflected so much. The ultrasonic ranging sensor 31 is not good at such objects. However, even if it is a soft obstacle, the optical distance measuring sensors 32R and 32L can measure the distance except when the color is particularly dark. In step S405, the ultrasonic distance measuring sensor 31 does not determine the approach limit. Even if it is, the distance data is acquired in step S420, and it is determined in step S425 whether it is below the approach limit. Even when the optical distance measuring sensor is used, the approach limit is set to 3 cm. If it is determined in step S425 that it is below the approach limit, the travel is stopped in step S430.

In this way, even for objects that cannot be accurately measured only by the ultrasonic distance measuring sensor 31, the number of objects that can be accurately measured is increased by using the optical distance measuring sensors 32R and 32L together, so that the objects do not collide with obstacles. be able to.
In this embodiment, not only accurate obstacle detection, but also the ultrasonic distance sensor 31 and the optical distance sensors 32R and 32L used together are used to detect the obstacle when the obstacle is detected. The advance angle is corrected so that it is perpendicular to the object. Of course, the obstacle that should normally be detected is the wall of the room, and as shown in FIG. 5, if the 90 degree turn is repeated and the room is zigzaged to clean the floor, This is a problem. Even if it is accurate at first, if it shifts slightly while driving, a floor surface that cannot be covered is created, and that part is not cleaned. In order to prevent this, it is effective to correct the traveling angle each time the wall is faced.

  In order to be perpendicular to the wall, the distance to the wall surface is measured by the optical distance measuring sensors 32R and 32L arranged on the left and right sides of the front surface of the main body BD, and the distance data measured by both of them match. This can be realized by rotating the main body BD as described above, or by measuring the distance to the wall surface with the ultrasonic distance measuring sensor 31 and rotating the main body BD so that the measured distance data is minimized.

Although the former is preferable, in this embodiment, it is used according to the situation.
In the present embodiment, it is determined whether or not distance data can be acquired by the optical distance measuring sensors 32R and 32L in step S415, and they are properly used depending on the determination result. That is, if the distance data can be acquired by the optical distance measuring sensors 32R and 32L, it is preferable to use the distance data. Therefore, in step S440, the same distance data is used and the left and right optical distance measuring sensors 32R and 32L are used. The main body BD is rotated so that the distance data obtained by measuring the distances coincide with each other. If the distance data cannot be obtained by the optical distance sensors 32R and 32L, the distance data cannot be used, and the distance data measured by the ultrasonic distance sensor 31 in step S435 is minimized. Rotate the BD.

  In the flowchart, when it is determined in step S420 that the distance data from the optical distance measuring sensors 32R and 32L is below the approach limit, it is necessary to determine again whether the distance data can be acquired by the optical distance measuring sensors 32R and 32L. Rather, after stopping traveling in step S430, the body BD is rotated in step S440. Only when it is determined in step S405 that the distance data from the ultrasonic distance measuring sensor 31 is below the approach limit, it is determined whether the distance data can be acquired by the optical distance measuring sensors 32R and 32L.

  If none of the distance data of the ultrasonic distance sensor 31 or the optical distance sensors 32R and 32L is determined to be an approach limit, it is determined that there is no obstacle ahead in step S445, and either is determined to be an approach limit. If so, it is determined in step S450 that there is an obstacle ahead. This determination result is used for the determination in step S170 shown in FIG.

  The determination of the front obstacle in step S170 is to determine whether there is an obstacle in the unit area adjacent to the front of the current coordinates of the main body BD in the mapping process. For example, when the main body BD is located at the coordinates (1, 8) in FIG. 6, it is determined whether there is an obstacle in the unit area of the coordinates (1, 9) adjacent to the front.

  If it is determined in step S170 that an obstacle ahead has been detected, a process of mapping as an obstacle area is performed in step S180. That is, a process of writing the coordinates adjacent to the front of the unit area where the main body BD is currently located as an obstacle area is performed. For example, in FIG. 6, the coordinates (1, 9) adjacent to the front of the coordinates (1, 8) of the main body BD are written as the obstacle area (x mark).

If the process of step S180 is executed, next, a process of turning the main body BD by 90 degrees is performed. When this processing is performed, the main body BD travels parallel to the obstacle.
The direction of turning 90 degrees at this time is a direction where there is no obstacle and there is an uncleaned area.
If the process of step S190 is executed, or if it is determined in step S170 that there is no obstacle ahead, then in step S200, a process of causing the main body BD to travel forward is performed. In this process, the drive motors 42R and 42L are controlled to cause the main body BD to travel straight in the unit area. For example, when the main body BD exists at the coordinates (1, 1), the vehicle travels to the coordinates (1, 2). Further, for example, when the main body BD is located at the coordinates (1, 8) and a turn of 90 degrees is performed by the process of step S190 described above, the body BD moves to the coordinates (2, 9).

  If the process of step S200 is executed, it is next determined whether or not a 90-degree turn has been made first. In this process, it is determined whether or not a 90-degree turn by the process of step S190 has been performed before the process related to the forward travel of step S200 described above is performed. If it is determined in step S210 that the 90-degree turn has been made, the 90-degree turn is made again in step S220.

  On the other hand, if it is determined in step S210 that the 90-degree turn has not been made, it is next determined in step S230 whether the end has been reached. In this mapping process, it is determined that the terminal has been reached when an obstacle is detected both in front and on the left and right sides, and when the vehicle has already traveled to the unit area. If it is determined in step S230 that the terminal has not been reached, the process returns to step S100. If it is determined that the terminal has been reached, the mapping process is terminated.

  When the mapping process shown in FIG. 4 is performed, the main body BD travels along the route indicated by the two-dot chain line arrow in FIG. 5, and at the point E (coordinates (10, 9)) in FIG. The processing ends and the main body BD stops, and mapping data as shown in FIG. 6 is created. In addition, although the blank part shown in FIG. 6 has shown the uncleaned area as mentioned above, in this uncleaned area, the area where the main body BD can actually travel and the main body BD can travel. And an area with obstacles that cannot be included.

After the mapping process shown in FIG. 4 is executed, the process moves to the uncleaned area, which is a blank portion shown in FIG. 6, and continues the process of running and cleaning the uncleaned area.
(4) Various modifications:
In the above-described embodiment, the drive mechanism is realized by the pair of drive motors 42R and 42L and the drive wheels 12R and 12L, but other methods such as an endless belt may be employed. The cleaning mechanism is realized with a side brush, a main brush, and a suction fan. Although this configuration is the most efficient, there are limits to the resources that can be used. It is possible to reduce the side brush. Also, a cleaning mechanism that omits the suction fan can be realized.

  The movement detection sensor uses the rotary encoders 43R and 43L connected to the drive motors 42R and 42L. However, accurate movement information can be acquired even when the drive wheels 12R and 12L slip when connected to the driven wheels. You may do it. Of course, the detection results of other sensors such as the gyro sensor 37 can be used together.

The peripheral sensor is realized by the ultrasonic distance measuring sensor 31, the optical distance measuring sensors 32R and 32L, and the lateral wall sensor 36. In order to detect the situation of the periphery of the main body, a sensor using various other principles is used. Is possible.
In addition, there are various mapping methods, and various control methods can be used in addition to the method of covering the indoor floor surface by zigzag traveling on the basis of 90-degree turn and straight traveling as described above.
(5) Summary:
As described above, in the self-propelled cleaner 10 according to the present embodiment, the distance data acquired in step S405 is approached after the distance measurement data from the ultrasonic distance measuring sensor 31 is acquired in step S400. If it is determined that it is less than the limit, and if it is determined that it is less than the approach limit, the travel is stopped in step S410. If it is not determined that the approach limit is determined in step S405, the process proceeds to step S420. The distance data from the right and left optical distance measuring sensors 32R and 32L is acquired, and it is determined in step S425 whether the distance is below the approach limit. In this case, since the traveling is stopped, the optical distance measuring sensors 32R and 32L are used in combination for an object that cannot be accurately measured only by the ultrasonic distance measuring sensor 31. Increase the subject can be accurately ranging in Rukoto, it can be prevented from colliding with the obstacle.

It is a perspective view of the main body concerning one Embodiment of this invention. It is a rear view of the main body. It is a block diagram which shows the internal structure of this self-propelled cleaner. It is a flowchart of a mapping process. It is a simplified view of the room showing the running situation associated with the mapping process. It is a figure explaining a mapping process. It is a flowchart for forward obstacle determination.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Self-propelled cleaner BD ... Main body 12R, 12L ... Drive wheel 13 ... Auxiliary wheel (rolling wheel)
14 ... Step sensor 15 ... Main brush 15a ... Suction port 16 (R, L) ... Side brush 17 ... Bumper sensor 18 ... Suction fan 19 ... Operation panel 21 ... CPU
22 ... RAM (storage area)
23 ... ROM
24 ... Bus 26 ... Battery monitoring circuit 27 ... Battery 29a ... Audio circuit 29b ... Speaker 30 ... Sensor I / F
31 ... Ultrasonic ranging sensor 32 ... Optical ranging sensor 52 ... Main brush motor 35 ... Pyroelectric sensor 36R, 36L ... Side wall sensor 37 ... Gyro sensor 41 ... Motor drive I / F
42R, 42L ... Drive wheel motor 43c ... Encoder I / F
43R, 43L ... Rotary encoder 55 ... Suction motor 61a ... Wireless LAN unit 61b ... LAN I / F
61 ... Wireless LAN module 72 ... Infrared light source (infrared LED)
73a: Infrared CCD camera (infrared light camera)
73b ... Camera I / F

Claims (6)

A substantially short cylindrical body,
A drive mechanism for driving the main body in a predetermined direction;
A cleaning mechanism incorporated in the main body for cleaning;
A movement detection sensor for detecting movement information of the main body;
A peripheral sensor that detects the situation around the main body,
An operation panel arranged on the outer surface of the main body;
A detection result from the movement detection sensor and the peripheral sensor and an operation input from the operation panel are input, and the drive mechanism and the cleaning mechanism are controlled based on a predetermined control program stored in advance. In a self-propelled cleaner provided with a control means for running and cleaning the floor in the range of
The drive mechanism is composed of left and right drive wheels driven by individually forward and reverse drive motors arranged near both sides of the main body and freely rollable rolling wheels arranged on the front side. Configured,
The cleaning mechanism is configured such that side brushes disposed on the left and right front sides of the main body and having a rotation axis oriented in a direction substantially perpendicular to the floor surface are rotated and driven in opposite directions by a side brush motor to remove dust on the floor surface. A side brush mechanism that rakes toward the center side, and a main brush motor that rotates a roller-shaped main brush with the axis of rotation substantially perpendicular to the traveling direction at a substantially central portion of the main body and oriented substantially horizontally. Consists of a main brush mechanism that sweeps up dust on the floor and a suction mechanism that sucks up the scrap
The movement detection sensor detects a rotation amount and a rotation direction of the left and right drive wheels,
The above ambient sensor
Optical distance measuring sensors arranged on the left and right of the front side of the main body,
An ultrasonic distance measuring sensor disposed in the approximate center of the front side of the main body;
A lateral wall sensor disposed on the left and right side surfaces of the main body,
The control means maps the room based on the size of the main body while moving the main body with the drive mechanism in a predetermined area such as a room based on an operation instruction from the operation panel. Recognizing the position information of the main body, and driving the cleaning mechanism as appropriate to clean the room.
At the time of the mapping, the side wall sensor detects a side obstacle while moving forward, and the ultrasonic ranging sensor detects the presence or absence of a front obstacle. When the obstacle is detected, the obstacle is detected. The drive mechanism avoids the obstacle so that the main body does not collide, and when the obstacle is not detected by the ultrasonic distance sensor, the optical distance sensor indicates whether there is an obstacle ahead. When the obstacle is detected, the obstacle is avoided by the drive mechanism so that the main body does not collide with the obstacle, and when the obstacle is detected, the right and left optical distance measuring sensors If the detection result of the optical distance sensor is not obtained, the main body is adjusted based on the detection result of the ultrasonic distance sensor when the detection result of the optical distance sensor is not obtained. Up Correct progression angle so as to be perpendicular to the obstacle, also, self-propelled cleaner, characterized in that to reflect with the mapping data movement information detection result of the peripheral sensor. The body,
A drive mechanism for driving the main body in a predetermined direction;
A cleaning mechanism incorporated in the main body for cleaning;
A movement detection sensor for detecting movement information of the main body;
A peripheral sensor that detects the situation around the main body,
An operation panel arranged on the outer surface of the main body;
A detection result from the movement detection sensor and the peripheral sensor and an operation input from the operation panel are input, and the drive mechanism and the cleaning mechanism are controlled based on a predetermined control program stored in advance. In a self-propelled cleaner provided with a control means for running and cleaning the floor in the range of
The above ambient sensor
An optical distance measuring sensor disposed on the front side of the main body;
An ultrasonic distance sensor disposed on the front side of the main body;
A lateral wall sensor disposed on the left and right side surfaces of the main body,
The control means maps the room based on the size of the main body while moving the main body with the drive mechanism in a predetermined area such as a room based on an operation instruction from the operation panel. Recognizing the position information of the main body, and driving the cleaning mechanism as appropriate to clean the room.
At the time of the mapping, while the main body is moved forward by the drive mechanism, a lateral obstacle is detected by the lateral wall sensor, and based on the detection results of both the ultrasonic distance sensor and the optical distance sensor. Detects the presence or absence of obstacles ahead, and when the obstacle is detected, avoids the obstacle by the drive mechanism so that the main body does not collide with the obstacle and moves the detection result of the peripheral sensor A self-propelled vacuum cleaner that is reflected in mapping data together with information.   The control means detects the presence or absence of a front obstacle with the ultrasonic distance sensor while moving the main body forward with the driving mechanism, and causes the main body to collide with the obstacle when the obstacle is detected. If the obstacle is not detected by the ultrasonic distance sensor, the optical distance sensor detects the presence or absence of a front obstacle. The self-propelled cleaner according to claim 2, wherein the obstacle is avoided by the drive mechanism so that the main body does not collide with the obstacle when the obstacle is detected. The optical distance measuring sensor is arranged on the left and right of the front side of the main body,
The self-propelled cleaner according to claim 2 or 3, wherein the ultrasonic distance measuring sensor is disposed at a substantially central portion on the front side of the main body.   The control means rotates the main body with the drive mechanism so that the detection results of the left and right optical distance sensors are obtained when an obstacle is detected ahead, and the detection results of the optical distance sensors match. 5. The self-propelled cleaner according to claim 4, wherein the traveling angle is changed to correct the traveling angle so that the main body is perpendicular to the obstacle. When the control means detects an obstacle ahead, and the detection result of the optical distance sensor is not obtained, the detection result of the ultrasonic distance sensor is the highest while rotating the main body by the drive mechanism. The self-propelled cleaner according to claim 5, wherein the traveling angle is corrected so that the main body is perpendicular to the obstacle by setting the traveling angle to be shorter.

Images